float64 p_hl
float64 d_hl
float64 a_hl
float64 p_hr
float64 d_hr
float64 a_hr
float64 p_ll
float64 d_ll
float64 a_ll
float64 l_ll
float64 p_lr
float64 d_lr
float64 a_lr
float64 l_lr
float64 maxLegSpd
float64 maxHipSpd

bool vertical
bool smoothLegMotion
bool smoothHipMotion
